Figure 7From: Dynamic virtual fixture on the Euclidean group for admittance-type manipulator in deforming environments Trajectories of the proxy along straight line (a) and circle (b) on the deforming sphere with k p = 5, ω = 5 rad/s, R-T ratio = 1, c r = 0.1 rad/s, c p = 100 mm/s. Back to article page